/**
 * @file ObjectData.h
 * @author  
 * @brief 视觉目标数据类型
 * @version 1.0
 * @date 2021-01-01
 * 
 * @copyright Copyright (c) 2021
 * 
 */

#pragma once
#include <cstdint>
#include "data_struct/robot/Pose.h"

namespace behavior_controller
{
    class ObjectData
    {
    public:
        ObjectData(){};
        void SetObjectData(std::vector<PointF>  _object_poses,bool _pushable,int _time_sec, int _time_nanosec)
        {object_poses = _object_poses; pushable=_pushable; time_sec=_time_sec;   time_nanosec=_time_nanosec;}
        
        void GetTime(int &_time_sec, int &_time_nanosec) 
        {  _time_sec=time_sec;  _time_nanosec=time_nanosec;  };

        std::vector<PointF>& GetPosesArray() { return object_poses;};
        bool PushAble() {return pushable;}
    private:
        std::vector<PointF>  object_poses;
        int time_sec; //时间
        int time_nanosec; //时间
        bool pushable;
    };

} // namespace behavior_controller
